| 管道焊接机器人视觉控制系统 |
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| 引用本文： | 于长亮,何晓明,唐丽芳.管道焊接机器人视觉控制系统[J].沧州师专学报,2008,24(1):44-46. |
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| 作者姓名： | 于长亮 何晓明 唐丽芳 |
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| 作者单位： | 神华黄骅港务有限责任公司 河北黄骅061100(于长亮)，沧州大化集团 河北沧州061001(何晓明)，沧州师专计算机中心 河北沧州061001(唐丽芳) |
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| 摘 要： | 设计了一种无轨道自动跟踪管道焊接机器人,主要对其视觉焊缝跟踪实时图像处理系统进行了研究。针对焊接过程中的各种干扰噪声和跟踪精度的要求,研究采用结构光CCD传感器检测系统和图像采集卡进行计算机软件图像处理,对其中模板滤波、边缘检测、轮廓跟踪、激光带中心线的抽取和特征点检测进行了研究。该套处理方法效果好,处理速度快,能够满足跟踪系统的实时性要求。
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| 关 键 词： | 管道 焊接机器人 视觉控制 单片机 CCD |
| 文章编号： | 1008-4762(2008)01-0044-03 |
| 修稿时间： | 2007年11月30 |
Control System of Pipeline Welding Robot based on Vision Technology |
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| YU Chang-liang,HE Xiao-ming,TANG Li-fang.Control System of Pipeline Welding Robot based on Vision Technology[J].Journal of Cangzhou Teachers‘College,2008,24(1):44-46. |
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| Authors: | YU Chang-liang HE Xiao-ming TANG Li-fang |
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| Institution: | YU Chang-liang, HE Xiao-ming, TANG Li-fang ( 1. Shen-hua Group Co., Ltd,Huanghua 061100,HeBei; 2.Cangzhou Dahua Group, Hebei Cangzhou 061001 ; 3.Cangzhou Teachers＇ College, Hebei Cangzhou 061001 ) |
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| Abstract: | The original designs one kind of no trajectory voluntarily following the track＇s pipe welding robot, and chiefly doing research for the tracks of real time image processing system to visual weld line. In view of different jam buzz and tracking accuracy＇s demands in the soldering process, we adopt composition light CCD＇s sensor examination system and image collecting cheek to carry on calculating machine software image processing in the research and the formwork filtering, edge detection, contour tracing and the lasers collecting of center line and feature point examination are underway thoroughly researching. That suit of handle means effect is good, and handle velocity can meet to follow the tracks of the system real time demand quickly. |
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| Keywords: | CCD |
| 本文献已被 CNKI 维普 万方数据 等数据库收录！ |
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